Abstract
This paper describes an illuminance distribution map generation by a mobile service robot. The robot collects illuminance measurements using an illuminance sensor at many locations in a room. These measurements are then linearly interpolated according to the Delaunay triangulation of the room using the measurement locations to make an illuminance distribution map. We also describe an infrared camera-based human detection, which will be useful for human-aware lighting control. The robot can detect a person even in a very dark environment.
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